Ok, quick question. Do yall recommend I do two tracking wheels on each side of the robot in the middle or just use the wheels powered by the motors? I was thinking about wheel slippage and wanted to do something like a free-spinning wheel in the middle with a suspension. Any ideas/do you recommend I…

You can do PID with three wheels? I thought that was Odometry?

Odometry is basically tracking algorithm to construct paths and PID is the movement algorithm the robot uses to follow that path

You would use odometry to calculate the position of the robot and PID loops to make it move to a spot on the field. If you are just using your tracking wheels to drive straight you could use only two tracking wheels.

[image] The_To: Do yall recommend I do two tracking wheels on each side of the robot in the middle or just use the wheels powered by the motors? It really depends on your situation. If you are trying to use odometry and get a strong programming skills, use the tracking wheels. If you just wan…

Yea I dont really know how to do Odometry and cant find any good tutorials or any good examples for vexcode c++ so I will just do a PID for turning and going forward, with two wheels. :slight_smile:

There aren’t any tutorials cause a lot of teams see odometry as their ace. You just have to look at real world studies yourself or flesh out all the logistics on your own Edit: Not as difficult as it sounds

Here are some forum posts with some great information on odometry: [image] Tracking wheels vex code code Programming Support How do I program tracking wheels? [image] Team 5225 Introduction to Position Tracking Document Technical Discussion …

Ok thanks it just I dont understand that and just need a example or actual tutorial but no one makes any which is kinda sad. I will just have to stick with PID for now which is still good to me :slight_smile:

How would you implement PID’s into odometry code? If I said “go to this point”, how would I implement PID’s into it?

You can use 2 parallel tracking wheels and then inertial sensors, thats what 7K had for tower takeover

PID tracking wheels?

VEX V5 General Discussion General Forum

anon22619360 May 11, 2020, 4:07pm 10

Here are some forum posts with some great information on odometry:

Odometry can help you get very precise autonomous but it will require some time to understand and good programming skills.